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Emotional robot control architecture implementation using FPGAs

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Emotional robot control architecture implementation using FPGAs

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dc.contributor.author Domínguez Montagud, Carlos Pascual es_ES
dc.contributor.author Hassan Mohamed, Houcine es_ES
dc.contributor.author Crespo, Alfons es_ES
dc.date.accessioned 2020-11-17T04:33:10Z
dc.date.available 2020-11-17T04:33:10Z
dc.date.issued 2017-01 es_ES
dc.identifier.issn 1383-7621 es_ES
dc.identifier.uri http://hdl.handle.net/10251/155137
dc.description.abstract [EN] Emotional control architectures are becoming promising solutions for the design of the robots of the future. The emotions motivate the robot behaviors to fulfill the objectives. The workload of the emotions increases with the complexity of the applications, which reduces the capacity of the processor to undertake more complex problems. A simple but costly solution would be the use of high performance computers to solve the complex problems. However, taking advantage of the potential parallelism of the emotions, this paper proposes a less expensive solution using low cost Cyclone FPGAs. Different FPGA devices are compared to analyze their suitability to cope with different industrial mobile robotic applications. The experiments are conducted taking into account different environmental conditions, robot dynamics and emotional states. The results of the evaluation show that Cyclone V outperforms the original RT-SW solution in 5 times and can undertake the 97% of the problems of the robot, while Cyclone IV improves the performances in about 4 times solving medium and few complex problems. Cyclone 2 and 3 double the performance of the RT-SW and are useful for simple robotic applications. (C) 2016 Elsevier B.V. All rights reserved. es_ES
dc.description.sponsorship This work was supported in part under Grant FP7 ICT Dreams and Grant PAID/2012/325. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation UPV/PAID-2012-325 es_ES
dc.relation.ispartof Journal of Systems Architecture es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Field-programmable gate array (FPGA) es_ES
dc.subject Mobile robots applications es_ES
dc.subject Embedded systems es_ES
dc.subject Hardware/software co-design es_ES
dc.subject VHDL es_ES
dc.subject.classification ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES es_ES
dc.title Emotional robot control architecture implementation using FPGAs es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.sysarc.2016.08.004 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/610640/EU es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Informática de Sistemas y Computadores - Departament d'Informàtica de Sistemes i Computadors es_ES
dc.description.bibliographicCitation Domínguez Montagud, CP.; Hassan Mohamed, H.; Crespo, A. (2017). Emotional robot control architecture implementation using FPGAs. Journal of Systems Architecture. 72:29-41. https://doi.org/10.1016/j.sysarc.2016.08.004 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.sysarc.2016.08.004 es_ES
dc.description.upvformatpinicio 29 es_ES
dc.description.upvformatpfin 41 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 72 es_ES
dc.relation.pasarela S\348699 es_ES
dc.contributor.funder Universitat Politècnica de València es_ES


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